text: #!/usr/bin/env python3
  from cereal import car
  from common.realtime import DT_CTRL
  from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
  from selfdrive.car.interfaces import CarInterfaceBase
  from selfdrive.car.body.values import SPEED_FROM_RPM
  
  class CarInterface(CarInterfaceBase):
    @staticmethod
    def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False):
  
      ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
  
      ret.notCar = True
      ret.carName = "body"
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
  
      ret.steerRatio = 0.5
      ret.steerRateCost = 0.5
      ret.steerLimitTimer = 1.0
      ret.steerActuatorDelay = 0.
  
      ret.mass = 9
      ret.wheelbase = 0.406
      ret.wheelSpeedFactor = SPEED_FROM_RPM
      ret.centerToFront = ret.wheelbase * 0.44
  
      ret.radarOffCan = True
      ret.openpilotLongitudinalControl = True
      ret.steerControlType = car.CarParams.SteerControlType.angle
  
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
  
      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
  
      return ret
  
    def update(self, c, can_strings):
      self.cp.update_strings(can_strings)
  
      ret = self.CS.update(self.cp)
  
      ret.canValid = self.cp.can_valid
  
      # wait for everything to init first
      if self.frame > int(5. / DT_CTRL):
        # body always wants to enable
        ret.init('events', 1)
        ret.events[0].name = car.CarEvent.EventName.pcmEnable
        ret.events[0].enable = True
      self.frame += 1
  
      self.CS.out = ret.as_reader()
      return self.CS.out
  
    def apply(self, c):
      return self.CC.update(c, self.CS)
  